Robot system, method for controlling a robot system, and processing system

Abstract

The invention relates to a robot system, to a corresponding method, and to a processing system, wherein, along a process line, which is formed by guide rails, or on a conveyor belt, objects or workpieces are optionally moved or transported on carrier devices having gripping elements. The robot arm removes the objects from the process line by pulling or pushing the objects from a plane or surface of the process line into a working chamber compliantly, i.e., in a non-rigid manner by means of force control, wherein the objects are positioned and oriented in the working chamber by means of guiding elements. After the processing of the objects in the working chamber, the objects are pushed or pulled back onto the process line by means of the robot arm. The process line can comprise passive, non-driven rollers or the like instead of an actively driven conveyor belt, wherein the robot arm nudges or pushes the objects in order to transport the objects.

1 . Robotic system having at least one robot arm and a control unit for controlling the movement of the robot arm, which has at least one effector, the robotic system being positionable and orientable in the region of a process line along which an object or a carrier device, on which the object is arranged, can be moved, the control unit and the robot arm being configured such that
 the robot arm can interact with the object in the region of a working space assigned to the robotic system such that the effector processes the object, and   the robot arm can guide the object or the carrier device into and/or out of the working space by means of the effector;   wherein the robotic system has a compliance control and the control unit is further configured such that the robot arm displaces the object or the carrier device relative to at least one guide means of the working space for guiding the object or the carrier device in such a way that the object or the carrier device is automatically positioned in the correct position relative to the robotic system for processing.   
     
     
         2 . Robotic system according to  claim 1 , in which the working space is provided in the region of the process line and the control unit and the robot arm are configured such that the robot arm can guide the object or the carrier device along the process line between two mutually spaced guide means by means of the effector. 
     
     
         3 . Robotic system according to  claim 1 , in which the working space is provided outside the process line and the control unit and the robot arm are configured such that the robot arm moves the object or the carrier device from the process line into the working space between two converging guide means and/or out of these guide means and thus back from the working space to the process line. 
     
     
         4 . Robotic system according to  claim 2 , in which the control unit and the robot arm are configured such that the robot arm can apply a pull and/or push force to the object or to the carrier device by means of the effector. 
     
     
         5 . Robotic system according to  claim 1 , in which the effector is configured such that it can cooperate with the object in the region of the working space without contact, forming a contact or changing the object. 
     
     
         6 . Method for controlling a robotic system which has at least one robot arm and a control unit for controlling the movement of the robot arm, which has at least one effector, the robotic system having a compliance control and being positionable and orientable in the region of a process line, along which an object or a carrier device on which the object is arranged is movable, the robot arm interacting with the object in the region of a working space assigned to the robotic system, and the working space having at least one guide means for guiding the object or the carrier device,
 comprising the steps of:   processing the object by means of the effector; and   for the purpose of processing the object, guiding the object or the carrier device by means of the robot arm relative to the at least one guide means of the working space in such a way that the object or the carrier device is automatically positioned in the correct position to the robotic system for processing; and/or   after the processing of the object has been completed, the object or the carrier device is guided out of the guide means and thus out of the working space by means of the robot arm.   
     
     
         7 . Method according to  claim 6 , in which the guide means are provided in the region of the process line and are spaced from one another, the robot arm guiding the object or the carrier device between the guide means and thus along the process line. 
     
     
         8 . Method according to  claim 6 , in which the robot arm guides the object or the carrier device from the process line between two mutually converging guide means and/or out of these guide means to the process line. 
     
     
         9 . Method according to  claim 6 , in which the step of guiding comprises:
 touching the object or the carrier device without connection by means of the effector; and   applying a pull and/or push force to the object or to the carrier device by means of the effector.   
     
     
         10 . Method according to  claim 6 , in which the step of guiding comprises:
 captively gripping the object or the carrier device by means of the effector; and   applying a pull and/or push force to the object or to the carrier device by means of the effector, or   lifting the object or the carrier device by means of the effector, transferring it into a working position and setting down the object or the carrier device in this working position.   
     
     
         11 . Method according to  claim 6 , in which the control unit and the robot arm are configured in such a way that clocking is predetermined by the robotic system when the object or the carrier device is guided. 
     
     
         12 . Processing system comprising a process line along which objects or carrier devices for these objects are movable, and a robot arranged in the region of said process line, said robot having one or more axes and being formed with compliance control, wherein at least one guide means arranged in the region of the process line and adapted to transfer the object or the carrier device by a movement of the robot into a processing position provided for further processing of the object. 
     
     
         13 . Processing system according to  claim 12 , in which the guide means is formed of spaced-apart guide surfaces for the object or the carrier devices. 
     
     
         14 . Processing system according to  claim 13 , in which the guide surfaces are arranged along a process line which is of linear or non-linear construction. 
     
     
         15 . Processing system according to  claim 14 , in which the guide surfaces are arranged with clearance to the object guided along the process line or the carrier device. 
     
     
         15 . Processing system according to  claim 13 , in which the guide surfaces are arranged in a working space located in the region of the process line or adjacent to the process line. 
     
     
         16 . Processing system according to  claim 15 , in which the working space and the process line are substantially on one plane. 
     
     
         17 . Processing system according to  claim 15 , in which the working space and the process line are in different planes and the guide means is aligned transversely or inclined to the plane of the process line. 
     
     
         18 . Processing system according to  claim 16  in which the guide surfaces converge to each other towards the intended machining position. 
     
     
         19 . Processing system according to  claim 12 , in which the guide means are flexibly designed. 
     
     
         20 . Processing system according to  claim 12 , in which the robot is a mobile robot.